CN104107005B - Automatic scrubbing machine - Google Patents

Abstract

Automatic scrubbing machine belongs to scrubbing tool field.Power supply, water pump, vavuum pump constitute its accessory；Single-chip microcomputer constitutes its control unit；Cleaning block, orientation tentacle, steering tentacle constitute its scouring part.The elements such as wiping module, roller and capping are installed, capping closing can be enclosed in roller in cleaning block, the flushable roller of water pump water supply in cleaning block；Capping is opened roller and is exposed, and stepper motor drives roller to rotate and can be cleaned.Orientation tentacle and steering tentacle are installed in cleaning block, and they are made up of elements such as module, cylinder, magnetic valve, vacuum receptor, suckers；The controllable cylinder of magnetic valve and sucker vacuumize or are injected into air by vavuum pump, so as to scouring part can be made to produce motion or absorption on slippery surfaces.Clean part surface distributed have touching button can perceive touching phenomenon.Clean part to receive to wipe module, orientation module, the control of steering module, these modules are connected with single-chip microcomputer, are controlled by SCM program software, so as to realize automatic scrubbing.

Description

Automatic scrubbing machine

Technical field

Specifically it is exactly the robot with scrub function the present invention relates to a kind of swaging machine.

Background technology

In life, artificial cleaned window glass is arduous and has high-altitude unsafe factor, and existing cleaner can not expire The collection of sewage and backflow during foot cleaning.

The content of the invention

The purpose of the present invention is directed to above-mentioned the deficiencies in the prior art, there is provided it is a kind of it is easy to operate, automatic flexibly, when cleaning Sewage can automatically collect the swaging machine of backflow.

The present invention is realized by following technology：

The present invention cleans the part of part three composition by accessory, control unit.Accessory has power supply, water pump, vacuum Pump；Power supply has the low pressure range of different size, can be water pump, and vavuum pump, control unit is cleaned part and powered；Water pump can pass through Conduit supplies water to part cycle is cleaned, to rinse rag；Vavuum pump can by conduit to clean part in cylinder component and Suction cup elements are evacuated.Control unit uses single-chip microcomputer, and accessory and the scouring portion being attached thereto are controlled by program software Part.Part is cleaned by cleaning block, tentacle is oriented, tentacle composition is rotated.Cleaning block by wiping shell, cleaning block main body, roller, cylinder, capping, Module is wiped, end snap-domes is wiped, is wiped snap-domes composition.The side of cleaning block main body is provided with metal clips electrode and metal needle, Metal clips electrode can perceive the position of capping, metal needle can perceive cleaning block whether with plane contact；Roller and capping position In in cleaning block main body, capping closing can be enclosed in roller in cleaning block main body, when the water pump of accessory passes through conduit to wiping During block periodical feeding, the rag that can be rinsed on roller；Roller is opened in capping and rag exposes, to clean.Drums inside is pacified Equipped with a cylinder, a cylinder is installed in cylinder, the cylinder carries four magnetic valves, and some magnetic valves pass through conduit Vavuum pump with external auxiliary part is communicated, and some magnetic valves are communicated with air, and the end of cylinder piston rod is used to connect outside Orientation tentacle；Stepper motor is installed in one end of cylinder, the stepper motor can drive roller to rotate, it is also possible to drive Capping is rotated；When driving capping to rotate, the active pointer installed on drum shaft is leaned on to connect, when active pointer makes capping and roller When wall links together, stepper motor and roller and capping are rotated together, and capping is not rotated then when being not connected to；Active pointer position Mobile to be driven by tightrope, the movement of tightrope is to wipe the miniature linear stepping motor installed in shell to cause.Wipe shell top and install one Individual stepper motor, the stepper motor is used to connect steering tentacle.Wipe and wiping module (integrated circuit board) is also equipped with shell, wipe The phases such as snap-domes, shell fragment electrode, metal needle, stepper motor, linear stepping motor, the magnetic valve installed in module and cleaning block Even, it can be the touching signal transmission of wiping (end) snap-domes or shell fragment electrode to single-chip microcomputer, it is also possible to the control of single-chip microcomputer Signal transmission processed controls stepper motor and magnetic valve to stepper motor or magnetic valve.Snap-domes are that tool is effigurate leads The thin shell fragment of electric metal, there is dividing for positive pole negative pole, and positive pole can contact negative pole in the presence of external force, not contacted then without external force.Bullet Piece button is arranged on the surface for wiping shell, and snap-domes can send touching signal.Orientation tentacle has a upright arm and a suction Disk.Upright arm is connected and right angle setting with the end of the cylinder piston rod installed in cleaning block.Peace in the orientation vertical arm housing of tentacle Equipped with a cylinder and four magnetic valves, an orientation module (integrated circuit board), and other elements are provided with shell fragment on housing Button；One sucker is installed in the end of the cylinder piston rod, the sucker there are two magnetic valves by the way that conduit is related, wherein one Individual magnetic valve is arranged in sucker, and another is arranged in orientation tentacle housing, and the magnetic valve installed in housing connects one Vacuum induction device, the inductor can sense and the gas in space is closed in sucker whether be evacuated.On the surface of sucker and Inside is also provided with snap-domes, can send touching signal.It should be noted that some magnetic valves are communicated with air, some electricity Magnet valve is communicated by conduit with the vavuum pump of accessory；Button on orientation tentacle sucker, magnetic valve and vacuum receptor are equal It is connected with orientation module by electric wire, the electric signal of connected respective element can be passed to single-chip microcomputer by orientation module can also be The control signal of single-chip microcomputer passes to corresponding element.Turn to tentacle close with the structure identity function of orientation tentacle, institute is different Be that it has a horizontal arm, have a cylinder, four magnetic valves and a steering module (integrated circuit board), water in horizontal arm The rotating shaft of the stepper motor that the end of flat arm inside cylinder piston rod is installed with cleaning block top is connected, and stepper motor can drive steering Tentacle rotates.The upright arm and horizontal arm for turning to tentacle are connected to 90 degree.Turn to the upright arm of tentacle and the structure of orientation tentacle It is similar, except that being provided with orientation module in orientation tentacle and turning to not installed in the upright arm of tentacle and touch block, other are such as The element all same such as cylinder, magnetic valve, sucker, snap-domes, its annexation is also identical, is not repeated herein.Should repeat What is illustrated is to turn to the snap-domes of tentacle, magnetic valve, vacuum induction device to be also all connected with steering module, steering module and outside Single-chip microcomputer connection, steering module receives the control of single-chip microcomputer.

Using when, single-chip microcomputer is judged and sends control instruction according to push button signalling and vacuum induction device signal.Coordinate fixed To tentacle with turn to the elongation of tentacle and shorten, two suckers can alternating sorbent on glass, complete walking, across etc. action. Scouring is to rub glass by the rag on roller to complete.When rinsing rag, capping is enclosed in rag in cleaning block main body It is rinsed, sewage can flow back.

Brief description of the drawings：Concrete structure of the invention is given by following drawings and Examples.

Fig. 1 is that to clean part (partial sectional view) corresponding to accessory (plan) and control unit (plan) It is relation schematic diagram；Fig. 2 wipes snap-domes front view；Fig. 3 wipes snap-domes top view；Fig. 4 wipes snap-domes left view；Fig. 5 Wipe snap-domes rearview；Fig. 6 wipes positive pole snap-domes top view；Fig. 7 wipes negative pole snap-domes top view；Fig. 8 wipes packet and presses Key section button left view；Fig. 9 wipes packet key part button right view；Figure 10 wipes packet key part button right view；Figure 11 wipe end snap-domes front view；Figure 12 wipes end snap-domes rearview；Figure 13 cleaning blocks end snap-domes top view；Figure 14 cleaning blocks End snap-domes left view；Figure 15 cleaning blocks end snap-domes right view；Figure 16 cleaning blocks end snap-domes negative pole button front view；Figure Button front view under 17 cleaning block end snap-domes positive terminals；Button front view on the snap-domes positive terminal of Figure 18 cleaning blocks end；

Figure 19 is the top view for wiping shell；Figure 20 is the front view for wiping shell；Figure 21 is the left view for wiping shell；Figure 22 is to wipe shell Rearview；Figure 23 is the upward view for wiping shell；Figure 24 is to wipe shell (along stepper motor 1-4-3 axial direction cuttings and cutting plane crosses roller 1-7 Central axis) sectional view；Figure 25 is casting lug thereon (along the upper surface cutting for wiping shell 1-4) cutting block front view；Figure 26 is protrusion Block (along the upper surface cutting for wiping shell 1-4) cutting block upward view；Figure 27 is casting lug thereon (along the upper surface cutting for wiping shell 1-4) cutting Block left view；Figure 28 is casting lug thereon (along the upper surface cutting for wiping shell 1-4) cutting block rearview；

Figure 29 is the top view of cleaning block main body；Figure 30 is the upward view of cleaning block body side 1-3-2；Figure 31 is cleaning block main body Front view；Figure 32 is the left view of cleaning block body side 1-3-2；Figure 33 is the upward view of cleaning block main body；Figure 34 is cleaning block master The left view of body；Figure 35 is the C-C on Figure 34 to sectional view；

Figure 36 is the front view of capping；Figure 37 is the upward view of capping；Figure 38 is the top view of capping；Figure 39 is capping Right view；Figure 40 is the attached view of thin type disk 1-6-5；Figure 41 is the left view of thin type disk 1-6-5；Figure 42 is thin type disk The upward view of 1-6-5；

Figure 43 is the front view of roller；Figure 44 is the top view of roller；Figure 45 is section view of the roller along central shaft (cutting) Figure；

Figure 46 is the front view of cylinder；Figure 47 is cylinder inner space front view；Figure 48 is cylinder inner space Left view；Figure 49 is cylinder inner space right view；Figure 50 is cylinder inner space top view；Figure 51 is inside cylinder Space upward view；Figure 52 is cylinder top view；Figure 53 is cylinder upward view；Figure 54 is that fixed support 1-8-14 and conduit connect Connect block 1-8-15 front views；Figure 55 is fixed support 1-8-14 and conduit contiguous block 1-8-15 left views；Figure 56 is fixed support 1-8-14 and conduit contiguous block 1-8-15 top views；Figure 57 is cylindrical case top view；Figure 58 is cylindrical case upward view；Figure 59 It is sectional view of the cylindrical case along central shaft (cutting)；Figure 60 is support 1-8-21 right views；Figure 61 is that support 1-8-21 is looked up Figure；

Figure 62 is orientation snap-domes top view；Figure 63 is orientation negative pole snap-domes top view；Figure 64 is orientation positive pole Snap-domes top view；

Figure 65 is orientation positive pole snap-domes upward view；Figure 66 is orientation snap-domes front view；Figure 67 is orientation shell fragment Button left view；

Figure 68 is orientation negative pole snap-domes left view；Figure 69 is orientation positive pole snap-domes left view；Figure 70 is orientation Tentacle arm front view；Figure 71 is U-shaped shell upward view；Figure 72 is orientation tentacle arm upward view；Figure 73 is orientation tentacle arm right view； Figure 74 is orientation tentacle arm left view；Figure 75 is the drain pan and shelf layer rearview for orienting tentacle arm；Figure 76 is orientation tentacle arm Drain pan and shelf layer front view；Figure 77 is the drain pan and shelf layer top view for orienting tentacle arm；Figure 78 is orientation tentacle arm Support top view；Figure 79 is the support upward view for orienting tentacle arm；Figure 80 is the support front view for orienting tentacle arm；Figure 81 is fixed To the support rearview of tentacle arm；Figure 82 is the conduit articulamentum upward view for orienting tentacle arm；Figure 83 is to orient leading for tentacle arm Pipe articulamentum left view；Figure 84 is the conduit articulamentum right view for orienting tentacle arm；

Figure 85 is orientation sucker front view；Figure 86 is orientation snap-domes front view；Figure 87 is that orientation snap-domes are overlooked Figure；Figure 88 is the negative snap-domes front view of orientation；Figure 89 is the negative snap-domes top view of orientation；Figure 90 is orientation mesa-shaped shell master View；Figure 91 is orientation mesa-shaped shell top view；Figure 92 is orientation mesa-shaped shell upward view；Figure 93 is orientation sucker flexible glue main view Figure；Figure 94 is orientation sucker flexible glue top view；Figure 95 is orientation sucker flexible glue upward view；Figure 96 is orientation suction cup interior support master View；Figure 97 is orientation suction cup interior support top view；Figure 98 is orientation suction cup interior support upward view；Figure 99 is orientation sucker Internal stent left view；Figure 100 is orientation sucker upward view；

Figure 101 is to turn to tentacle arm front view；Figure 102 is to turn to tentacle arm snap-domes front view；Figure 103 is to turn to touch Arm snap-domes right view；Figure 104 is to turn to tentacle arm snap-domes left view；Figure 105 is to turn to tentacle arm (negative) shell fragment Button right view；Figure 106 is to turn to tentacle arm (negative) snap-domes front view；Figure 107 is to turn to tentacle arm (negative) snap-domes Top view；Figure 108 is to turn to tentacle arm (just) snap-domes top view；Figure 109 is to turn to tentacle arm shell right view；Figure 110 It is to turn to tentacle arm upper case right view；Figure 111 is to turn to tentacle arm upper case left view；Figure 112 is to turn to tentacle arm Upper case front view；Figure 113 is to turn to tentacle arm upper case rearview；Figure 114 is to turn to tentacle arm upper case to overlook Figure；Figure 115 is to turn to tentacle arm upper case upward view；Figure 116 is to turn to tentacle arm lower case front view；Figure 117 is to turn To tentacle arm lower case left view；Figure 118 is to turn to tentacle arm lower case upward view；Figure 119 is to turn to tentacle arm bottom Shell top view；Figure 120 is to turn to tentacle arm support layer front view；Figure 121 is to turn to tentacle arm support layer rearview；Figure 122 It is to turn to tentacle arm support layer right view；Figure 123 is to turn to tentacle arm support layer left view；Figure 124 is to turn to tentacle arm support Layer top view；Figure 125 is to turn to tentacle arm support layer upward view；Figure 126 is to turn to tentacle arm support 3-1-3 and support 3-2-1 Top view；Figure 127 is to turn to tentacle arm support 3-1-3 and support 3-2-1 left views；Figure 128 is to turn to tentacle arm support 3-1-3 With support 3-2-1 front views；Figure 129 is the A of Figure 128 to sectional view；Figure 130 is to turn to tentacle arm horizontal arm conduit articulamentum 3- 1-5 right views；Figure 131 is to turn to tentacle arm horizontal arm conduit articulamentum 3-1-5 front views；Figure 132 is to turn to tentacle arm level Arm conduit articulamentum 3-1-5 upward views；Figure 133 is to turn to tentacle arm horizontal arm conduit articulamentum 3-1-5 top views；Figure 134 is Turn to tentacle arm horizontal arm conduit articulamentum 3-1-5 rearviews；Figure 135 is to turn to tentacle arm horizontal arm conduit articulamentum 3-1-5 Left view；Figure 136 is to turn to tentacle arm upright arm conduit articulamentum 3-2-4 front views；Figure 137 is to turn to tentacle arm horizontal arm to lead Pipe articulamentum 3-2-4 top views；Figure 138 is to turn to tentacle arm horizontal arm conduit articulamentum 3-2-4 upward views；Figure 139 is to turn to Tentacle arm horizontal arm conduit articulamentum 3-2-4 left views；Figure 140 is to turn to the tentacle arm horizontal arm conduit articulamentum 3-2-4 right sides to regard Figure；

Figure 141 is to turn to sucker 3-3 front views；Figure 142 is to turn to sucker snap-domes front view；Figure 143 is to turn to inhale Disk snap-domes top view；Figure 144 is to turn to the negative snap-domes front view of sucker；Figure 145 is to turn to the negative snap-domes of sucker to bow View；Figure 146 is to turn to the round table-like shell front view of sucker；Figure 147 is to turn to the round table-like shell top view of sucker；Figure 148 is Turn to the round table-like shell upward view of sucker；Figure 149 is to turn to sucker flexible glue front view；Figure 150 is to turn to sucker flexible glue top view； Figure 151 is to turn to sucker flexible glue upward view；Figure 152 is to turn to suction cup interior support front view；Figure 153 is to turn to suction cup interior branch Frame top view；Figure 154 is to turn to suction cup interior support upward view；Figure 155 is to turn to suction cup interior support left view；Figure 156 is Turn to sucker 3-3 upward views

Figure 157 is vacuum receptor front view；Figure 158 is vacuum receptor top view；Figure 159 is that vacuum receptor is looked up Figure；Figure 160 is vacuum receptor left view；Figure 161 is vacuum receptor right view；Figure 162 is vacuum receptor and+electrode With-electrode top view；Figure 163 is vacuum receptor base vertical view；Figure 164 is to sectional view on A-A in Figure 163；Figure 165 It is the front view of metal clips 04-4 and+electrode 04-5；Figure 166 is the top view of metal clips 04-4 and negative electrode 04-6；Figure 167 is the left view of metal clips 04-4 and negative electrode 04-6；Figure 168 is looking up for metal clips 04-4 and negative electrode 04-6 Figure；Figure 169 is seal cap upward view；Figure 170 is seal cap front view；Figure 171 is closure upward view；Figure 172 is closure Top view；

Figure 173 is the circuit diagram of orientation module 2-1-5；

Figure 174 is the circuit diagram of steering module 3-1-2；

Figure 175 is the circuit diagram for wiping module 1-5；

Figure 176 is the circuit diagram of single-chip microcomputer；

Figure 177 is the stepper motor picture of in the market circulation；

Figure 178 is the miniature electromagnetic valve picture of in the market circulation；

Figure 179 is the minitype cylinder picture of in the market circulation；

Specific embodiment

Legend：C1 single-chip microcomputers plan, C2 vavuum pumps plan, C3 water pumps plan, C4 clean part sectional view, C5 water Groove plan, C6 power planes figure, 1 cleaning block, 2 orientation tentacles, 3 steering tentacles, 1-1 wipe snap-domes, 1-2 cleaning blocks end shell fragment and press Key, 1-3 cleaning blocks main body, 1-4 wipe shell, 1-5 and wipe module, 1-6 cappings, 1-7 rollers, 1-8 cylinders, 1-4-1 wiping shell screw, 1-4- 2 division boards, 1-4-3 stepper motors, 1-4-5 screws, 1-4-4 screws, 1-4-6 axle sleeves, 1-4-7 pressing plates, 3-1 turn to tentacle level Arm, 3-1-1 turn to tentacle horizontal arm cylinder, 1-4-8 pipes, 1-4-9 screws, 1-4-10 negative poles shell fragment, 1-4-11 casting lug thereons, 1- The miniature straight line stepping electricity of 4-12 positive pole shell fragment a, 1-4-13 positive pole shell fragment b, 1-4-14 positive pole shell fragment c, 1-4-15 sleeve pipe, 1-4-16 Machine, 2-1-1 orientation tentacles pipe, 1-4-18 binding posts, 1-4-19 sliding blocks, 1-4-20 tightropes, 1-4-21 apertures, 1-4-22 peaces Dress hole, 1-3-2 sides, 1-3-3 gongs nail, 1-3-4 projections, 1-3-5 grooves, 1-3-6 centre bores, 1-8-9 cylinders inside cylinder, 1- 8-2 electric wires, 1-8-3 air intake ducts, 1-8-4 water pipes, 1-3-7 semi-circular recesses, 1-3-8 positive pole c, 1-3-9 negative poles o2,1-3-10 gold Category pin, 1-3-11 metal needles mounting hole, 1-3-12 semi-circular recesses, the negative metal clips of 1-3-13 positive metal clips d, 1-3-14 O3,1-3-16 metal needle, 1-3-17 sides, 1-3-18 positive pole e, 1-3-19 negative poles o4,1-6-1 capping side walls sheet metal, 1- 3-20 mesa-shaped projection, 1-3-21 mesa-shaped projections inner hollow body, 1-3-22 circular holes, 1-3-23 circular holes, 1-6-1 metal semicircles ring plate, 1-6-2 closure sidewalls, 1-6-3 annulus wall, 1-6-4 apertures, 1-6-5 thin types garden piece, 1-6-6 pins, 1-6-7 pins, 1-6-8 metal elastics Piece, 1-6-9 metal clips, 1-6-10 circular holes, 1-6-11 tightropes circular hole, 1-7-1 central shafts, 1-7-5 central shaft holes, 1-7-2 are small Hole, 1-8-1 rollers stepper motor, 1-7-3 wedge-shaped body, 1-7-4 screws hole, 1-8-5 screws hole, 1-8-6 bottom, 1-8-7 barrels, 1-8-8 covers, 1-8-9 cylinders, 1-8-10 magnetic valves, 1-8-11 grooves, 1-8-12 water inlets pore, 1-8-13 water outlets pore, 1- 8-14 fixed supports, 1-8-21 fixed supports, 1-8-15 electromagnetism valve guides contiguous block, 1-8-16 screws, 1-8-24 screws, 1-8- 17 centre bores, 1-8-18 screws hole, 1-8-19 screws hole, 1-8-20 communicating pipes, 1-8-21 fixed supports, 1-8-22 communicating pipes, The 1-8-23 mouths of pipe, 1-8-24 gongs nail, 1-8-25 gongs nail, 1-8-26 string holes, 1-8-27 holes, 1-8-20-1 holes, 1-8-20-2 holes, 2- 1 orientation tentacle arm, 2-2 orientations sucker, 2-1-2 shells, 2-1-3 supports, the positive snap-domes of 2-1-A, the negative snap-domes of 2-1-B, 2-1-5 orientation modules, 2-1-4 cylinders, 2-1-1 orientation tentacles pipe, 2-1-6 magnetic valves, 2-1-6-1 magnetic valves, 2-1-6-2 electricity Magnet valve, 2-1-6-3 magnetic valves, 2-1-6-4 magnetic valves, 2-1-7 conduits articulamentum, 2-1-8 connecting tubes, 2-1-9 screws, 2-1- 10 gongs nail, 2-1-11 vacuum receptor, 2-1-12 vacuum receptors magnetic valve, 2-1-13 drain pans, 2-1-14 screws, 2-1-23 Luo Nail, 2-1-15 circular holes, 2-1-16 small sircle holes, 2-1-17 pipes, 2-1-18 holes, 2-1-19 holes, the 2-1-20 mouths of pipe, 2-1-21 pipes Road, 2-1-22 telescopic pipes, 2-2-1 snap-domes, 2-2-2 mesa-shaped shell, 2-2-3 suckers flexible glue, the spherical spaces of 2-2-4 half, 2-2-A Positive pole snap-domes, 2-2-B negative poles snap-domes, 2-2-5 pipes, 2-2-6 apertures, 2-2-7 macropores, 2-2-8 air admission holes, 2-2- 9 aspirating holes, 2-2-10 flexible glues air intake duct, 2-2-11 flexible glues air inlet pipe, 2-2-12 magnetic valves, 2-2-13 wire seals flexible rubber hose, 2-2-14 flexible glues mounting hole, 2-2-15 positive poles elastic sheet metal, 2-2-16 negative poles elastic sheet metal, 2-2-17 sucker stands, 2- 2-18 circular holes, 3-1-1 turn to tentacle horizontal arm cylinder, 3-2 upright arms, 3-3 and turn to sucker, 3-1 steering tentacles horizontal arm, 3-A On positive pole snap-domes, 3-B negative poles snap-domes, 3-1-2 steering modules, 3-1+2 snap-domes, 3-1*2 shells, 3-1*2-1 Portion's shell, 3-1*2-2 lower cases, 3-1#2 shelf layers, 3-1*2-3 screws, 3-1-3 horizontal arms, 3-2-1 upright arm branch Frame, 3-1-4 magnetic valves, 3-1-4-1 magnetic valves, 3-1-4-2 magnetic valves, 3-1-4-3 magnetic valves, 3-1-4-4 magnetic valves, 3-1-5 Conduit articulamentum, 3-1-6 cylinder casings, 3-2-2 cylinders, 3-2-3 magnetic valves, 3-2-3-1 magnetic valves, 3-2-3-2 magnetic valves, 3- 2-3-3 magnetic valves, 3-2-3-4 magnetic valves, 3-2-4 conduits articulamentum, 3-1-7 connecting pipes, 3-1-8 screws, 3-2-5 communicating pipes Road, 3-2-6 screws, 3-1-9 holes, 3-1-10 holes, 3-2-7 holes, 3-2-8 holes, 3-1-11 pipelines, 3-2-9 pipelines, 3-1-12 pipes Mouth, 3-1-13 holes, 3-1-14 holes, the 3-2-10 mouths of pipe, 3-2-11 vacuum receptor, 3-2-12 vacuum receptors magnetic valve, 3-2- 13 branch's mouths of pipe, 3-2-15 cylinder casings, 3-2-16 holes, 3-2-17 holes, 3-1-13 gongs nail, 3-3 turn to sucker, 3-3-1 shell fragments Button, 3-3-2 mesa-shaped shell, 3-3-3 inhale flexible glue, the spherical spaces of 3-3-4 half, 3-3-A positive poles snap-domes, 3-3-B negative pole shell fragments Button, 3-3-5 pipes, 3-3-6 apertures, 3-3-7 macropores, 3-3-8 air admission holes, 3-3-9 aspirating holes, 3-3-10 suckers flexible rubber hose, 3-3-11 sucker flexible glues air inlet pipe, 3-3-14 mounting holes, 3-3-13 wire seals flexible rubber hose, 3-3-12 magnetic valves, 3-3-17 inhale Disc carrier, 3-3-15 positive poles elastic sheet metal, 3-3-16 negative poles elastic sheet metal, 3-3-18 circular holes, 04 vacuum receptor, 04-1 Closure, 04-2 bases, 04-3 seal caps, 04-4 metal clips, 04-5 (+electrode), 04-6 (- electrode), 04-2-6 screws hole (screw), 04-2-1 cylinder type hollows, 04-2-3 conduits, 04-2-4 conduits, 04-2-2 steps, 04-2-5 pits, 04-1-1 Luo Nail,

Embodiment：With reference to Fig. 1；It is to clean part to illustrate to the corresponding relation that contacts of accessory and control unit that the figure is Figure；C1 is single-chip microcomputer plan, C2 is vavuum pump plan, C3 is water pump plan, C4 is scouring partial cross-sectional view of components, C5 For tank plan, C6 are power plane figure；Wherein clean part to be made up of three big components, i.e. cleaning block 1, orient tentacle 2, Turn to tentacle 3.

Cleaning block 1 has many widgets to constitute again, and they are to wipe snap-domes 1-1；Cleaning block end snap-domes 1-2；Wipe shell 1- 4；Cleaning block main body 1-3；Wipe module 1-5；Capping 1-6；Roller 1-7；Cylinder 1-8.

With reference to Fig. 2~18；Wipe snap-domes and cleaning block end snap-domes are distributed in the surface of cleaning block, be have thin elastic metallic Piece is combined according to certain shape bending, and it is divided into positive pole shell fragment and negative pole shell fragment, is wiped positive pole shell fragment and is labeled as 1-1-A, Wipe negative pole shell fragment and be labeled as 1-1-B, cleaning block rectifies pole shell fragment and is labeled as 1-2-A, and cleaning block end negative pole shell fragment is labeled as 1-2-B.Just Snap-domes are divided into several groups, and every group of lead-out wire is connected with module 1-5 is wiped；Snap-domes are wiped to be divided on left button (Ja3), left button (Ja5), four groups of (Ja6) on right button (Ja4), right button, cleaning block end snap-domes are divided into two groups of (Ja7) under end is gone up (Ja8) and held；It is negative Snap-domes link together, and its public lead-out wire (Jx0) is connected with the shared low level of module 1-5；The benefit of packet is can With the signal that the snap-domes for distinguishing diverse location are sent out；It is in embedded peace to wipe snap-domes 1-1 and cleaning block end snap-domes 1-2 Mounted in cleaning block main body 1-3 and the surface of wiping shell 1-4, when cleaning block 1 touches other object, snap-domes are extruded and draw first Hair touching signal.

With reference to Figure 19~28；It is shelly body to wipe shell 1-4, and outward appearance is seemingly square, and inside is hollowed out, lower ending opening.Wiping shell 1-4 can It is enclosed within cleaning block main body 1-3, is fixed together with cleaning block main body 1-3 by screw 1-4-1.Wipe shell 1-4 inside and install one Individual division board 1-4-2, division board 1-4-2 top are provided with a wiping module 1-5 and stepper motor 1-4-3.Wipe module and stepping Motor is fixed on division board 1-4-2 by screw 1-4-4 screws 1-4-5.Shell is wiped in the top of stepper motor 1-4-3 opened one Individual square opening, the rotating shaft of stepper motor is exposed in the upper surface of wiping shell 1-4.One axle sleeve 1-4- is installed in the rotating shaft of stepper motor 6, there is a pressing plate 1-4-7 above axle sleeve 1-4-6.Axle sleeve 1-4-6 is fixedly connected with the rotating shaft of stepper motor, axle sleeve 1-4-6 On be provided with a circular hole and a square hole, a pipe 1-4-8 is installed in the side in garden hole, the opening direction of circular hole and pipe with Stepping motor rotating shaft is vertical, and circular hole is round to be connected with the cylinder 3-1-1 piston-rod ends in the horizontal arm 3-1 for turning to tentacle 3 Pipe 1-4-8 is flexibly connected with the horizontal arm for turning to tentacle 3, and pipe 1-4-8 does not turn between tentacle 3 and cleaning block 1 electric wire still and leads The passage of tracheae connection, while being also possible to prevent to turn to tentacle 3 with its torsion of horizontal arm cylinder piston rod as axis.Axle sleeve 1- The side surface of 4-6 is provided with one (negative polarity) thin metal clips o1 (1-4-10), with axle sleeve rotation it can be with casting lug thereon (positive polarity) the thin metal clips a (1-4-12) installed on 1-4-11, (positive polarity) thin metal clips b (1-4-13), (positive pole Property) thin metal clips c (1-4-14) contacts respectively, these (polarity) metal clips are connected with wiping module 1-5 by electric wire, so The variation of axle sleeve position can be perceived by the trigger signal of the thin metal clips of polarity.Pressing plate 1-4-7 does not influence stepper motor The rotation of rotating shaft, plays protective action, and pressing plate is fixedly connected by screw 1-4-9 with the casting lug thereon 1-4-11 wiped on shell 1-4；Pressing plate On be provided with hole, be the mounting hole 1-4-22 that the electric wire wiped on shell 1-4 leads to outside with wireway.Install division board 1-4-2 bottoms There is an a sleeve pipe 1-4-15 and miniature linear stepping motor 1-4-16.One end of the sleeve pipe links together with shell 1-4 is wiped, It can allow the pipe 2-1-1 oriented on tentacle 2 to slide wherein, and it is that electric wire and wireway connect between cleaning block 1 and orientation tentacle 2 The passage for connecing, while it is also possible to prevent orientation tentacle 2 carries out wrongful torsion.Miniature linear stepping motor 1-4-16 passes through Screw is fixed on division board 1-4-2, and the electric wire on its binding post 1-4-18 passes through aperture and top on division board Module 1-5 is wiped to link together.Having a sliding block 1-4-19 on the linear stepping motor can horizontally slip on slider track, A tightrope 1-4-20 is connected on sliding block 1-4-19.Tightrope 1-4-20 leads to outer through the aperture 1-4-21 wiped on the wall of shell 1-4 sides Portion, it will be connected with a thin type disk 1-6-5 in capping 1-6, and under the drive of tightrope thin type disk 1-6-5 can produce The movement of raw relative position.

With reference to Figure 29 to 35；Cleaning block main body 1-3 leans on shape in circle, and its part is split, and inside is hollowed out, and is by barrel The shelly body constituted with side.One side 1-3-17 of cleaning block main body 1-3 connects together with barrel, another side 1-3-2 It is connected with barrel by screw 1-3-3.Side 1-3-2 is provided with raised 1-3-4, raised relative with the groove 1-3-5 on barrel Should, it is easy to be fixedly connected.6 circular holes and screw hole are provided with the 1-3-2 of side, centre bore 1-3-6 therein is in cylinder 1-8 The mounting hole of cylinder 1-8-9 cylinder bodies end Luo lines, the less hole of diameter is screw hole 1-8-5, and remaining circular hole is respectively cylinder Wire hole 1-8-2 in body 1-8, air-breathing pore 1-8-3, water pipe hole 1-8-4.The madial wall of side 1-3-2 is cut out a semicircle The groove 1-3-7 of shape, is provided with two metal clips electrodes, cathode metal shell fragment c (1-3-8) in groove 1-3-7 (ja1), negative metal shell fragment o2 (1-3-9) (jx0), is connected with a metal needle 1-3- on cathode metal shell fragment c (1-3-8) 10, the metal needle can be slided along metal needle mounting hole 1-3-11.When metal needle 1-3-10 is extruded, cathode metal shell fragment c Deform upon and contacted with negative metal shell fragment o2 and trigger touching signal, signal is transmitted by the electric wire being connected with metal clips Give wiping module 1-5.Also a semicircular groove 1-3-12, groove are provided with the inner surface of the side 1-3-17 being connected with barrel Two metal clips electrodes, cathode metal shell fragment d (ja2) (1-3-13), a negative metal bullet are installed in 1-3-12 Piece o3 (jx0) (1-3-14).A metal needle 1-3-15 is connected with cathode metal shell fragment d, the metal needle can pacify along metal needle Dress hole 1-3-16 is slided.Cathode metal shell fragment d is also connected with wiping module 1-5 respectively with the electric wire of negative metal shell fragment o3.Side The also insertion of 1-3-17 inner surfaces is provided with two metal clips electrodes, cathode metal shell fragment e (jb4) (1-3-18), one Negative metal shell fragment o4 (jx0) (1-3-19).Cathode metal shell fragment e and negative metal shell fragment o4 also wipe mould by the way that electric wire is same respectively Block 1-5 is connected.Cathode metal shell fragment e and negative metal shell fragment o4 can be in close contact with the side walls of capping 1-6.In capping 1-6 Side walls on have a garden ring piece 1-6-1 of metal half, when cover 1-6 rotate to certain position when, sheet metal 1-6-1 can make Cathode metal shell fragment e is connected with negative metal shell fragment o4.The trigger signal for being connected according to sheet metal 1-6-1 and being triggered can be perceived Cover the relative position of 1-6.In side, 1-3-17 inner surfaces have a mesa-shaped projection 1-3-20, middle in mesa-shaped projection 1-3-20 Position is hollowed out and forms cylinder type hollow body 1-3-21.Capping 1-6 can rotate around mesa-shaped projection 1-3-20, roller 1-7's Rotary shaft is also mounted in cylinder type hollow body 1-3-21.There is circular hole 1-3-22 and circular hole 1- on mesa-shaped projection 1-3-20 3-23, tightrope 1-4-20 can pass through circular hole.

With reference to Figure 36~42；Capping 1-6 is a shelly body, positioned at the inside of cleaning block main body 1-3；Its one can cover On mesa-shaped projection 1-3-20, other end can be enclosed within cylinder 1-8.There is one on the outside of the side walls 1-6-2 for covering 1-6 The garden ring piece 1-6-1 of metal half, when capping 1-6 goes to certain position, the garden ring piece 1-6-1 of metal half can connect cleaning block main body The negative metal shell fragment o4 on cathode metal shell fragment e and cleaning block main body 1-3 on 1-3.There is a circle on the inside of side walls 1-6-2 Ring wall 1-6-3, is provided with many aperture 1-6-4 on annulus wall 1-6-3.There is a thin type disk 1- on the inside of annulus wall 1-6-3 6-5, there is two pin 1-6-6 (1-6-7), two metal clips 1-6-8 (1-6-9), a circular hole 1-6-10 and two above it Individual tightrope circular hole 1-6-11；Circular hole can allow the central shaft 1-7-1 of roller 1-7 to pass through, and tightrope circular hole 1-6-11 is used to the company of installation Tightrope is connect, tightrope is connected through circular hole 1-3-22 and circular hole 1-3-23 with the tightrope 1-4-20 wiped in shell 1-4, metal clips 1-6- 8 and metal clips 1-6-9 can provide reaction force for tightrope 1-4-20；With thin type disk 1-6-5 during tightrope 1-4-20 tensions The movement of position, two pin 1-6-6 (1-6-7) can be just passed through on aperture 1-6-4 and roller 1-7 on annulus wall 1-6-3 Aperture 1-7-2, and then capping 1-6 and roller 1-7 is linked together, roller 1-7 can just drive capping 1-6 to rotate；Tightrope When 1-4-20 is not tensed, roller 1-7 does not just drive capping 1-6 to rotate；The location status of so so capping 1-6 can just be adjusted It is whole.

With reference to Figure 43~45；Roller 1-7 is cylindrical, is made up of barrel and bottom surface.Have one on the bottom surface of roller 1-7 Individual central shaft 1-7-1 and many aperture 1-7-2.Central shaft 1-7-1 has a central shaft hole 1-7-5 for mounting rotary drum stepping electricity The rotating shaft of machine 1-8-1, the size of aperture 1-7-2 is suitable with two pin 1-6-6 (1-6-7) diameters on thin type disk 1-6-5, thin Two pin 1-6-6 (1-6-7) on shape disk 1-6-5 can pass through aperture 1-7-2.When roller stepper motor 1-8-1 is rotated Roller can be just driven to rotate.There is a contract shape body 1-7-3 on the barrel of roller 1-7, have screw hole 1- on contract shape body 1-7-3 7-4.The effect of wedge-shaped body 1-7-3 can be fixed rag and be convenient for changing rag.

With reference to Figure 46~61；Cylinder 1-8 is made up of roller stepper motor with cylindrical case and inner space.Outside tubular Shell has a bottom 1-8-6, barrel 1-8-7, cover 1-8-8 composition；Inner space is the installing space of element, and there is a cylinder the inside 1-8-9, four battery valve 1-8-10, fixed support 1-8-14 (1-8-21) and its accessory structure.Pass through Luo on the 1-8-6 of cylinder bottom Nail 1-8-25 is provided with roller stepper motor 1-8-1, and the electric wire on the binding post of roller stepper motor 1-8-1 may pass through a bottom String holes 1-8-26 on 1-8-6 enters inside cylinder 1-8, and at cylinder bottom, 1-8-6 also has a screw hole 1-8-19, and the hole is used to Screw 1-8-16 is installed.A groove 1-8-11 is provided with the outer surface of barrel 1-8-7, the two ends of groove 1-8-11 respectively have one Aperture, an a water inlet pore 1-8-12 and water outlet pore 1-8-13, is provided with water pipe on hole, water pipe is located at cylinder 1-8 Inside can lead to outside be connected with water pump.The cylinder 1-8-9 of the inside of cylinder 1-8 and four battery valve 1-8-10 are to pass through Fixed support 1-8-14 (1-8-21) and electromagnetism valve guide contiguous block 1-8-15 and screw 1-8-24 connects installation.It is fixed Support 1-8-14 and conduit contiguous block 1-8-15 are an entirety, and connecting pipe 1-8-20 has been opened in inside；Connecting pipe 1-8- 20 is the passage of the gas circulation between cylinder and magnetic valve.Four magnetic valve 1-8-10 are full name, and it includes four magnetic valves； In four magnetic valve 1-8-10 the wiring of magnetic valve 1-8-10-1 and magnetic valve 1-8-10-2 marked as (J6, JX0) and (J5, JX0), the wiring of magnetic valve 1-8-10-3 and magnetic valve 1-8-10-4 is marked as (J5, JX0) and (J6, JX0)；In four electromagnetism In valve 1-8-10, magnetic valve 1-8-10-1 and magnetic valve 1-8-10-2 is that control air enters cylinder 1-8-9；Magnetic valve 1-8- 10-3 and magnetic valve 1-8-10-4 is used for the air for controlling the vavuum pump of outside to extract in cylinder 1-8-9；Magnetic valve 1-8-10-3 Air inlet with magnetic valve 1-8-10-4 is docked with connecting pipe 1-8-20 respectively；Magnetic valve 1-8-10-3 and magnetic valve 1-8- Docked with hole 1-8-20-1 and hole 1-8-20-2 on support 1-8-21 respectively the gas outlet of 10-4；Hole 1-8-20-1 and hole 1-8- 20-2 is communicated by the pipeline 1-8-22 in support 1-8-21 with mouth of pipe 1-8-23；Pipeline 1-8-22 is located in support 1-8-21, It is a part of support 1-8-21；Mouth of pipe 1-8-23 is used for being connected with the vavuum pump of outside by pipeline.Cover 1-8-8 is one Circular piece, is provided with several circular holes above.The hole 1-8-17 of middle part is the mounting hole of cylinder 1-8-9 cylinder bodies on cover 1-8-8, The Luo lines of cylinder 1-8-9 cylinder bodies are fixed on the side 1-3-2 of cleaning block main body 1-3 after passing through the hole；Screw hole 1-8-18 is Luo The mounting hole of 1-8-12 is followed closely, screw 1-8-12 is fixed on the 1-3-2 of side；Remaining hole 1-8-27 is water pipe, wireway, electric wire Access opening；The electric wire of roller stepper motor 1-8-1 and battery valve 1-8-10 through after the access opening with wipe the wiping module in shell 1-4 1-5 is connected；Water pipe and wireway are connected with outside water pump and vavuum pump respectively after passing through the access opening.

Orientation tentacle 2 is made up of orientation tentacle arm 2-1 and orientation sucker 2-2 two parts.

With reference to Figure 62~84；Orientation tentacle arm 2-1 can be divided into three layers, and outer layer is snap-domes, and middle level is U-shaped shell and bottom Shell, internal layer is shelf layer.Snap-domes are divided into two kinds of positive snap-domes and negative snap-domes, and snap-domes are distributed in U-shaped shell 2- The surface of 1-2, is also have thin elastic sheet metal to be combined according to certain shape bending, and positive pole snap-domes are labeled as 2-1- A, negative pole snap-domes are labeled as 2-1-B；The snap-domes packet of orientation tentacle arm 2-1 positive poles is connected, and is divided into left, center, right three Group, every group of label is respectively jc7, jc6, jc8, every group of public lead-out wire respectively with the output port of orientation module 2-1-5 Jc7, jc6, jc8 are connected；Negative pole snap-domes link together, the shared low level of its public lead-out wire jx0 and module 2-1-5 It is connected；The benefit of packet can be to distinguish the signal that the snap-domes of diverse location are sent out；Snap-domes exist in installation by adhering The surface of shell 2-1-2, when orientation tentacle arm 2-1 touches other object, snap-domes are extruded and trigger touching first Signal.U-shaped shell 2-1-2 is a shelly body, and the shape in its section is semicircle and rectangular assembly, and inside is hollowed out.U-shaped Shell 2-1-2 is fixed on support 2-1-3 by screw 2-1-14, and the surface of U-shaped shell 2-1-2 is used for mounting elastic sheet button.Drain pan 2-1-13 is rectangle, and it is fixed on support 2-1-3 by four screw 2-1-23；The middle part of drain pan 2-1-13 has one Individual circular hole 2-1-15, there is a small sircle hole 2-1-16 below；A pipe 2-1-17, pipe 2-1-17 are fixed on circular hole 2-1-15 It is to orient the pipeline that 1 electric wire of tentacle 2 and cleaning block and wireway are connected；Small sircle hole 2-1-16 is cylinder 1-8 inside cylinders 1-8-9 The mounting hole of piston-rod end, is fixedly connected by Luo lines, and it can be such that orientation tentacle 2 is coupled together with cleaning block 1.Shelf layer is branch The full name of installation elements on frame 2-1-3 and support, the element installed on support has cylinder 2-1-4, four magnetic valve 2-1-6, Orientation module 2-1-5, two conduit articulamentums 2-1-7, vacuum receptor a 2-1-11, a vacuum receptor magnetic valve 2- 1-12, a telescopic pipe 2-1-22.Conduit articulamentum 2-1-7 is a block structure, and connecting pipe 2-1-8 has been opened in inside. Connecting pipe 2-1-8 is the passage of the gas circulation between cylinder and magnetic valve.When conduit articulamentum 2-1-7 passes through screw 2-1-9 It is fixed on when on support 2-1-3, cylinder 2-1-4 and four magnetic valve 2-1-6 are also fixed.Four magnetic valve 2-1-6 are Full name, it includes four magnetic valves.In four magnetic valve 2-1-6, magnetic valve 2-1-6-1 and magnetic valve 2-1-6-2 is control Air enters cylinder 2-1-4's, and their wiring label is respectively (jx4, jx0), (jx3, jx0)；Magnetic valve 2-1-6-3 and electricity Magnet valve 2-1-6-4 is used for the air for controlling the vavuum pump of outside to extract in cylinder 2-1-4, and their wiring label is respectively (jx3, jx0), (jx4, jx0)；The air inlet of magnetic valve 2-1-6-3 and magnetic valve 2-1-6-4 respectively with connecting pipe 2-1-8 pairs Connect；The gas outlet of magnetic valve 2-1-6-3 and magnetic valve 2-1-6-4 respectively with support 2-1-3 on hole 2-1-18 and hole 2-1-19 Docking；Hole 2-1-18 and hole 2-1-19 is by the pipeline in support 2-1-3 and mouth of pipe 2-1-21 and vacuum receptor magnetic valve 2- One end mouth of pipe of 1-12 is communicated；Mouth of pipe 2-1-20 and mouth of pipe 2-1-23 are also the pipeline tapping in support 2-1-3, mouth of pipe 2-1-20 Communicated with mouth of pipe 2-1-23, mouth of pipe 2-1-23 only has by vacuum receptor magnetic valve 2-1-12 and vacuum receptor 2-1-11 Can be communicated with mouth of pipe 2-1-21, mouth of pipe 2-1-20 is used for connecting flexible glue the air intake duct 2-2-10, mouth of pipe 2-1-21 of orientation sucker 2-2 For being connected with the vavuum pump of outside by pipeline, one end and the vacuum receptor magnetic valve 2-1-12 of vacuum receptor 2-1-11 It is connected, the other end is communicated by pipeline opening 2-1-23 with the flexible glue air intake duct 2-2-10 of orientation sucker 2-2；Vacuum receptor 2-1- Whether 11 gases that can be perceived in orientation sucker 2-2 are evacuated, and its wiring is marked as (jc2, jx0)；Vacuum receptor electricity The effect of magnet valve 2-1-12 can be the gas that control is extracted in sucker, and its wiring is marked as (jx1, jx0).Vacuum receptor 2- 1-1 and magnetic valve 2-1-12 are fixed on support by screw.Orientation module 2-1-5 is located at the top of cylinder, by screw 2- 1-10 is fixed on support 2-1-3.Snap-domes on orientation tentacle 2, magnetic valve, vacuum receptor magnetic valve and vacuum sense Receiver is all connected by electric wire with orientation module 2-1-5.

With reference to Figure 85~100；Orientation sucker 2-2 can be divided into four layers, and outer layer is snap-domes 2-2-1, and secondary outer layer is mesa-shaped Shell 2-2-2, middle level is sucker flexible glue 2-2-3, and internal layer is half spherical space 2-2-4.Snap-domes are also curved according to certain rule Song can be divided into positive pole snap-domes 2-2-A and negative pole snap-domes 2-2-B into certain geometry；Positive pole snap-domes point Group is combined into three groups of left, center, right, and, in circular only one group, every group all by electric wire and orientation module 2- for negative pole snap-domes 1-5 is coupled together.The label of positive pole snap-domes electric wire is respectively jc4, jc3, jc5, negative pole snap-domes electric wire marked as jx0；Snap-domes are arranged on the surface of mesa-shaped shell, in installation by adhering.Mesa-shaped shell 2-2-2 is barrel-shaped in standing upside down, opening Downwards, the surface of upper bottom portion fixedly mounts a pipe 2-2-5, and pipe 2-2-5 is opened close to the position on sucker upper bottom portion surface Having several aperture 2-2-6, aperture 2-2-6 can allow the electric wire of snap-domes to be connected with orientation module 2-1-5 through pipe.Mesa-shaped The surface of shell 2-2-2 upper bottom portions is also provided with three holes, and centre is a macropore 2-2-7, and the aperture on one side is air admission hole 2-2-8 With aspirating hole 2-2-9；Macropore 2-2-7 is used for allowing the end of orientation tentacle arm 2-1 inside cylinder 2-1-4 piston rods to pass through；Aspirating hole 2-2-9 is the outlet opening of sucker flexible rubber hose 2-2-10, and air admission hole 2-2-8 is the outlet opening of sucker flexible glue air inlet pipe 2-2-11.Inhale Disk flexible glue 2-2-3 is in coniform, and it is half spherical space 2-2-4 that it is internal.Sucker flexible glue 2-2-3 is made up of flexible glue, flexible, and is connect Tactile plane has good tack, can form closed space, and just absorption is being put down after the gas of confined space is evacuated On face.Sucker flexible glue 2-2-3 carries three flexible rubber hoses and a mounting hole 2-2-14；This three flexible rubber hose is respectively flexible glue air intake duct 2-2-10, flexible glue air inlet pipe 2-2-11, wire seal flexible rubber hose 2-2-13.Flexible rubber hose 2-2-10 is flexible flexible by orientation Mouth of pipe 2-1-20 on tentacle arm 2-1 is communicated with vacuum receptor 2-1-11 and magnetic valve 2-1-12.Flexible glue air inlet pipe 2-2-11 Inside positioned at half spherical space 2-2-4 is connected with magnetic valve 2-2-12, when sucker flexible glue 2-2-3 forms envelope with the plane for being contacted During the space closed, magnetic valve 2-2-12 can control extraneous gas to enter in sucker by flexible glue air inlet pipe 2-2-11.Electric wire is close Envelope flexible rubber hose 2-2-13 is located in pipe 2-2-5, and it increased the thickness of flexible glue, and it is not hollow but is filled out so that flexible glue is solid Fill, the electric wire that it can allow in sucker is passed through and not because electric wire and gas leakage.Mounting hole 2-2-14 can allow cylinder 2-1-4 to live Stopper rod end Luo rasp bars are passed through.Half spherical space 2-2-4 is the inner space that sucker flexible glue 2-2-3 is formed, and the inside is provided with suction Disc carrier 2-2-17；An one magnetic valve 2-2-12 and positive pole elastic sheet metal 2-2-15 and is installed on sucker stand Individual negative pole elastic sheet metal 2-2-16.There is a circular hole 2-2-18 above sucker stand 2-2-17.Cylinder 2-1-4 piston-rod ends After Luo rasp bars pass through circular hole 2-2-18, sucker stand 2-2-17 and sucker flexible glue 2-2-3 and platform are made by the female methods for compressing of Luo Shape shell 2-2-2 is fixed together.Magnetic valve 2-2-12 can control sucker 2-2 to pass through flexible glue air inlet pipe 2-2-11 with outside Gas carries out gas exchanges, and the electric wire of magnetic valve 2-2-12 is marked as (jx2, jx0).Positive pole elastic sheet metal 2-2-15 bends to One circular arc, can contact with negative pole elastic sheet metal 2-2-16 when it is extruded and trigger touching signal, positive pole elasticity The electric wire of sheet metal 2-2-15 and negative pole elastic sheet metal 2-2-16 is marked as (jc1, jx0).Elastic sheet metal and magnetic valve The electric wire of 2-2-12 is connected after passing through wire seal flexible rubber hose 2-2-13 and pipe 2-2-5 with orientation module 2-1-5.

Turn to tentacle 3 to be made up of three parts, they are horizontal arm 3-1, upright arm 3-2, turn to sucker 3-3.

With reference to Figure 101~140；The horizontal arm 3-1 and upright arm 3-2 for turning to tentacle are combined together composition steering tentacle Arm, it combines angle for 90 degree.Cylinder 3-1-1 is installed in horizontal arm 3-1；The piston-rod end of cylinder 3-1-1 and stepping electricity The axle sleeve 1-4-6 of machine 1-4-3 is connected；Steering tentacle 3 can be just driven to rotate when stepper motor 1-4-3 rotates.Horizontal arm 3-1 Three layers can be also divided into the structure of upright arm 3-2, outer layer is that snap-domes 3-1+2, middle level are that shell 3-1*2, internal layer are supports Layer 3-1#2.Snap-domes 3-1+2 is the full name of the snap-domes of horizontal arm 3-1 and upright arm 3-2, and snap-domes 3-1+2 also divides It is two kinds of positive snap-domes and negative snap-domes, is have thin elastic sheet metal to be combined according to certain shape bending, positive pole Snap-domes are labeled as 3-A, and negative pole snap-domes are labeled as 3-B；The packet of positive pole snap-domes is connected, and is divided into left, center, right three Group, every group of public lead-out wire is connected with steering module 3-1-2, and the label of its lead-out wire is respectively jd1, jd3, jd2,；Negative pole Snap-domes link together, and its public lead-out wire js0 is connected with the shared low level of steering module 3-1-2；Snap-domes 3-1 + 2 in installation by adhering on the surface of shell 3-1*2.Shell 3-1*2 is horizontal arm 3-1 shells complete with upright arm 3-2 shells Claim, be the entirety for being combined together and being formed by horizontal arm 3-1 shells and upright arm 3-2 shells, it is divided into upper and lower two parts, on , marked as 3-1*2-1, lower part enclosure is marked as 3-1*2-2 for portion's shell；Shell 3-1*2 is fixed on branch by screw 3-1*2-3 On rack-layer 3-1#2；Can be with mounting elastic sheet button 3-1+2 on shell 3-1*2.Shelf layer 3-1#2 is horizontal arm 3-1-3 and hangs down The full name of installation elements on straight-arm support 3-2-1 and support, horizontal arm 3-1-3 and vertical arm support 3-2-1 are combined Unified entirety is formed together.The element installed on horizontal arm 3-1-3 have cylinder 3-1-1, four magnetic valve 3-1-4, Steering module 3-1-2, two conduit articulamentum 3-1-5；The element that vertical arm support 3-2-1 is installed has cylinder 3-2-2, four electricity Magnet valve 3-2-3, two conduit articulamentum 3-2-4, vacuum receptor 3-2-11, a vacuum receptor magnetic valve 3-2- 12.Conduit articulamentum 3-1-5 is a block structure, and connecting pipe 3-1-7 has been opened in inside.Connecting pipe 3-1-7 is cylinder The passage of the gas circulation between 3-1-1 and magnetic valve.When conduit articulamentum 3-1-5 is fixed on horizontal arm branch by screw 3-1-8 When on frame 3-1-3, cylinder 3-1-1 and four magnetic valve 3-1-4 are also fixed.Conduit articulamentum 3-2-4 is also a block Connecting pipe 3-2-5 is opened in shape structure, inside.Connecting pipe 3-2-5 is the gas circulation between cylinder 3-2-2 and magnetic valve Passage.When conduit articulamentum 3-2-4 is fixed on vertical arm support 3-2-1 by screw 3-2-6, cylinder 3-2-2 and four Magnetic valve 3-2-3 is also fixed.Magnetic valve 3-1-4-1 and magnetic valve 3-1-4-2 are that control air enters cylinder 3-1-1 , the electric wire label of magnetic valve 3-1-4-1 and magnetic valve 3-1-4-2 is respectively (js6, js0) and (js5, js0), and they pass through Hole (3-1-13) and hole (3-1-14) are arranged on support 3-1-3；Magnetic valve 3-2-3-1 and magnetic valve 3-2-3-2 are empty control Gas enters cylinder 3-2-2, the electric wire label of magnetic valve 3-2-3-1 and magnetic valve 3-2-3-2 be respectively (js4, js0) and (js3, js0), they are arranged on support 3-2-1 by hole (3-2-16) and hole (3-2-17)；.Magnetic valve 3-1-4-3 and electricity Magnet valve 3-1-4-4 is used for the air for controlling the vavuum pump of outside to extract in cylinder 3-1-1, magnetic valve 3-1-4-3 and magnetic valve 3- The electric wire label of 1-4-4 is respectively (js5, js0) and (js6, js0)；The air inlet of magnetic valve 3-1-4-3 and magnetic valve 3-1-4-4 Mouth is docked with connecting pipe 3-1-7 respectively；The gas outlet of magnetic valve 3-1-4-3 and magnetic valve 3-1-4-4 respectively with horizontal arm branch Hole 3-1-9 and hole the 3-1-10 docking of frame 3-1-3.Magnetic valve 3-2-3-3 and magnetic valve 3-2-3-4 is used for controlling the vacuum of outside Pumping takes the air in cylinder 3-2-2, and the electric wire label of magnetic valve 3-2-3-3 and magnetic valve 3-2-3-4 is respectively (js3, js0) (js4, js0)；The air inlet of magnetic valve 3-2-3-3 and magnetic valve 3-2-3-4 is docked with connecting pipe 3-2-5 respectively；Electromagnetism Docked with the hole 3-2-7 and hole 3-2-8 of vertical arm support 3-2-1 respectively the gas outlet of valve 3-2-3-3 and magnetic valve 3-2-3-4. Hole 3-1-9 and hole 3-1-10 are communicated with pipeline 3-1-11；Hole 3-2-7 and hole 3-2-8 are communicated with pipeline 3-2-9；Pipeline 3-1-11 It is a part of horizontal arm 3-1-3 in horizontal arm 3-1-3；Pipeline 3-2-9 is located at vertical arm support 3-2-1 It is interior, it is a part of vertical arm support 3-2-1；Pipeline 3-1-11 is connected with pipeline 3-2-9, " T " shape；Pipeline 3-1-11's Port is mouth of pipe 3-1-12；Pipeline 3-2-9 has one to isolate branch mouth of pipe 3-2-10 and one communicates branch's mouth of pipe, the phase reduction of fractions to a common denominator The mouth of pipe docking of mouth of pipe and vacuum receptor magnetic valve 3-2-12 one end, isolation branch mouth of pipe 3-2-10 can be experienced by vacuum Device 3-2-11 and vacuum receptor magnetic valve 3-2-12 are communicated indirectly；Isolation branch mouth of pipe 3-2-10 also not with mouth of pipe 3-1-12 phases Logical, isolation branch mouth of pipe 3-2-10 is used for connecting the flexible glue air intake duct 3-3-10 for turning to sucker 3-3；Mouth of pipe 3-1-12 is used for passing through Pipeline is connected with the vavuum pump of outside.Cylinder casing 3-1-6 is a part of horizontal arm 3-1-3, and it can be with wiping shell 1-4 On pipe 1-4-8 be slidably connected, be cleaning block 1 and turn to tentacle 3 between electric wire connection passage, while it is also possible to prevent level The torsion of arm 3-1.Cylinder casing 3-2-15 is a part of vertical arm support 3-2-1, and it can be with the pipe for turning to sucker 3-3 3-3-5 is slidably connected, be turn to sucker 3-3 and upright arm 3-2 between electric wire connection passage, while it be also possible to prevent turn to touch The wrongful torsion that hand 3 may occur.One end of vacuum receptor 3-2-11 is connected with vacuum receptor magnetic valve 3-2-12, The other end is communicated by pipeline with branch mouth of pipe 3-2-10；Vacuum receptor 3-2-11 can perceive the gas turned in sucker 3-3 Whether body is evacuated；The effect of vacuum receptor magnetic valve 3-2-12 can be the gas that control is extracted in sucker.Vacuum sense Receiver 3-2-11 and vacuum receptor magnetic valve 3-2-12 are fixed on support by screw, vacuum receptor 3-2-11 and vacuum The electric wire label of receptor magnetic valve 3-2-12 is respectively (jd7, js0), (js1, js0).Steering module 3-1-2 is located at cylinder 3- The top of 1-1, is fixed on horizontal arm 3-1-3 by screw 3-1-13.Snap-domes on steering tentacle 3, magnetic valve, Vacuum receptor magnetic valve and vacuum receptor are all connected by electric wire with steering module 3-1-2.

With reference to Figure 141~156；Turn to the 26S Proteasome Structure and Function of sucker 3-3 and the basic phase of 26S Proteasome Structure and Function of orientation sucker 2-2 Together, difference is

The label of each part is different；The now description of the 26S Proteasome Structure and Function according to orientation sucker 2-2 is to turning to the knot of sucker 3-3 Structure and function are repeated

Property explanation：

Turning to sucker 3-3 can be divided into four layers, and outer layer is snap-domes 3-3-1, and secondary outer layer is mesa-shaped shell 3-3-2, middle level It is sucker flexible glue 3-3-3, internal layer is half spherical space 3-3-4.Snap-domes are also to bend to certain geometry according to certain rule Shape, can be divided into positive pole snap-domes 3-3-A and negative pole snap-domes 3-3-B；Positive pole snap-domes be grouped into it is left, in, Right three groups, in circular only one group, every group is all coupled together negative pole snap-domes by electric wire with steering module 3-1-2.Just The label of pole snap-domes electric wire is respectively jd5, jd6, jd4, negative pole snap-domes electric wire marked as js0；Snap-domes are pacified Mounted in the surface of mesa-shaped shell, in installation by adhering.Mesa-shaped shell 3-3-2 is barrel-shaped in standing upside down, and Open Side Down, the table of upper bottom portion Face fixedly mounts a pipe 3-3-5, pipe 3-3-5 being provided with several aperture 3-3-6 close to the position on sucker upper bottom portion surface, Aperture 3-3-6 can allow the electric wire of snap-domes to be connected with steering module 3-1-2 through pipe.Mesa-shaped shell 3-3-2 upper bottom portions Surface be also provided with three holes, centre is a macropore 3-3-7, and the aperture on one side is air admission hole 3-3-8 and aspirating hole 3-3-9； Macropore 3-3-7 is used for allowing the end for turning to tentacle arm 3-2 inside cylinder 3-2-2 piston rods to pass through；Aspirating hole 3-3-9 is sucker flexible glue The outlet opening of pipe 3-3-10, air admission hole 3-3-8 is the outlet opening of sucker flexible glue air inlet pipe 3-3-11.Sucker flexible glue 3-3-3 is in circle Taper, it is half spherical space 3-3-4 that it is internal.Sucker flexible glue 3-3-3 is made up of flexible glue, flexible, is had very well with the plane for contacting Tack, closed space can be formed, after the gas of confined space is evacuated just absorption in the plane.Sucker flexible glue 3- 3-3 carries three flexible rubber hoses and a mounting hole 3-3-14；These three flexible rubber hoses are respectively flexible glue air intake duct 3-3-10, and flexible glue enters Tracheae 3-3-11, wire seal flexible rubber hose 3-3-13.Flexible rubber hose 3-3-10 is flexible flexible by turning on tentacle arm 3-2 Mouth of pipe 3-2-10 is communicated with vacuum receptor 3-2-11 and magnetic valve 3-2-12.Flexible glue air inlet pipe 3-3-11 leads to half spherical space 3- The inside of 3-4 is connected with magnetic valve 3-3-12, when sucker flexible glue 3-3-3 forms the space of closing with the plane for being contacted, electricity Magnet valve 3-3-12 can control extraneous gas to enter in sucker by flexible glue air inlet pipe 3-3-11.Wire seal flexible rubber hose 3-3-13 In pipe 3-3-5, it increased the thickness of flexible glue, and it is not hollow but with hatching solid to protect positive sealing, and it can Passed through with the electric wire allowed in sucker.Mounting hole 3-3-14 can allow cylinder 3-2-2 piston-rod end Luo rasp bars to pass through.Half spherical space 3-3-4 is the inner space that sucker flexible glue 3-3-3 is formed, and the inside is provided with sucker stand 3-3-17；Pacify on sucker stand Equipped with an an a magnetic valve 3-3-12 and positive pole elastic sheet metal 3-3-15 and negative pole elastic sheet metal 3-3-16.Sucker There is a circular hole 3-3-18 above support 3-3-17.After cylinder 3-2-2 piston-rod end Luo rasp bars pass through circular hole 3-3-18, pass through The female methods for compressing of Luo make sucker stand 3-3-17 and sucker flexible glue 3-3-3 are fixed together with mesa-shaped shell 3-3-2.Magnetic valve 3-3-12 can control sucker 3-3 by flexible glue air inlet pipe 3-3-11 with outside gas carry out gas exchanges, magnetic valve 3-3- 12 electric wire is marked as (js2, js0).Positive pole elastic sheet metal 3-3-15 bends to a circular arc, can be with when it is extruded Contacted with negative pole elastic sheet metal 3-3-16 and trigger touching signal, positive pole elastic sheet metal 3-3-15 and negative pole elastic sheet metal The electric wire of 3-3-16 is marked as (jd8, js0).The electric wire of elastic sheet metal and magnetic valve 3-3-12 passes through wire seal flexible glue It is connected with steering module 3-1-2 after pipe 3-3-13 and pipe 3-3-5.

With reference to Figure 157~172；Vacuum receptor 04 is a small element in swaging machine, and its function is to work as to connect with it The closed container for connecing is formed very

Space-time can trigger electric signal.Vacuum receptor 04 is made up of following assemblies：It is closure 04-1, base 04-2, close Sealing cap 04-3, metal

Shell fragment 04-4 ,+electrode 04-5 ,-electrode 04-6.

The base 04-2 of vacuum receptor is the assembly of a cuboid and one and half garden rings, and the straight warp of annulus is less than length The length and width of cube, it (is also 04-2- with the screw label of hole matching that four angles of cuboid are provided with four screw hole 04-2-6 6)；The middle part of the base is a cylinder type hollow 04-2-1；There is conduit 04-2-3 and conduit 04-2-4 on base 04-2 Communicated with cylinder type hollow 04-2-1；+ electrode 04-5 and-electrode 04-6 is installed in base wall.In cylinder type hollow 04-2- There is a small step 04-2-2 in 1, there is a cylindrical pit 04-2-5 on step 04-2-2；Metal clips 04-4 is arranged on The lower section of step 04-2-2 and+electrode 04-5 close contacts (can actually make metal clips 04-4 and+electrode 04-5 make one It is integrally attached on base) ,-electrode 04-6 to bend after being stretched out from step 04-2-2 and be located at pit 04-2-5's after 90 degree Top, can contact with-electrode 04-6 when metal clips 04-4 is extruded and trigger touching signal so as to form loop.Seal cap In hemispherical, inside is empty to 04-3, and its material is made of resilient flexible glue, and it can be buckled on base, when being pressed Just closed space is formed when tight with cylinder type hollow 04-2-1.Closure 04-1 is rectangle, and the position that centre is hollowed out is firm Seal cap 04-3 can be entangled well；There are four screw hole 04-1-1 at its four angles, can compress connection by screw 04-2-6 and base Connect.After the air in cylinder type hollow 04-2-1 is evacuated, the air compressing seal cap 04-3 of outside makes metal clips 04-4 Contacted with-electrode 04-6 and trigger touching signal.

Orientation module 2-1-5 is an integrated circuit board, and it can allow the touching signal transmission for being attached thereto button to single The control signal of single-chip microcomputer can also be passed to corresponding element by piece machine.

With reference to Figure 173；The primary element of orientation module 2-1-5 has：One parallel in serial Output Shift Register 74HC165, SI PO shift register 74HC595,0.Resistance 8,0 of 4K.The resistance 8 of 2K, 10K 8,2 photoisolator TLP521-4 of resistance, 8 triodes, 9014,8 diode IN4148,104 electric capacity.16 Individual connector COAX-F, 5 contact pin COAX-M.Shift register 74HC165 has 16 pins, wherein 3,4,5,6,11,12, 13rd, 14 pin each and connect COAX-F and pull-up resistor of 10K, and the other end of pull-up resistor is connected with the 16th pin, COAX-F as output end, COAX-F marked as：JC1、JC2、JC3、JC4、JC5、JC6、JC7、JC8.16th pin concatenation one Be connected with the 8th pin after individual electric capacity 104, the 8th pin connects a COAX-F, COAX-F marked as Jx0.9th pin connects a contact pin COAX-M, contact pin COAX-M marked as JP3.7.1st pin connects a contact pin COAX-M, contact pin COAX-M marked as JP1.7. 2nd pin connects a contact pin COAX-M after being connected with the 15th pin, contact pin COAX-M marked as JP3.5.Shift register 74HC595 Also there are 16 pins, photoisolator TLP521-4 there are 8 pins.Shift register 74HC595 the 15th, 1,2,3, pin and Individual photoisolator TLP521-4 the 2nd, 4,6,8 pin are respectively connected with；4th, 5,6,7 pin and another photoisolator TLP521-4 the 2nd, 4,6,8 pin be connected.Two the 1st of photoisolator TLP521-4 the, 3,5,7 pin each connect one 0.4K's Pull-up resistor, the other end of pull-up resistor is simultaneously connected after connecing with the 16th pin of register 74HC595, and the of register 74HC595 16 pin simultaneously meet a contact pin COAX-M, contact pin COAX-M marked as JPVCC.Two the 9th of photoisolator TLP521-4 the, 11st, the base stage of the respective triode IN4148 of 13,15 pin difference is connected；Two the 10th of photoisolator TLP521-4 the, 12, 14th, 16 pin are respectively with 0.The pull-up resistor of 2K is connected, and the other end of pull-up resistor is simultaneously connected after connecing with a COAX-F, this COAX-F marked as J3+；The emitter stage of each triode IN4148 is connected rear and connects with the positive pole of a diode IN4148 One lead-out wire, each lead-out wire connects a COAX-F, COAX-F marked as JX1, JX2, JX3, JX4, JX5, JX6, JX7, JX8；The negative pole of each diode IN4148 is simultaneously connected after connecing with the COAX-F marked as J3+；The colelctor electrode phase of each triode And connect, its lead-out wire is connected with a COAX-F, COAX-F marked as JX0.Shift register 74HC595 the 12nd, 14 pin Respectively connect a contact pin COAX-M, contact pin COAX-M marked as JP3.0 and JP3.4.Shift register 74HC595 the 11st pin draw Outlet and contact pin JP3.5 are connected.8th pin of shift register 74HC595 and the 13rd pin be connected after its lead-out wire with marked as JX0 COAX-F be connected.The JX0 of orientation module 2-1-5 connects low level i.e. negative pole, and J3+ connects high level i.e. positive pole, JP3.7、JP1.7、 JP3.5、JP3.0、JP3.4.It is connected with JPVCC with the corresponding pin of single-chip microcomputer central processing unit, such as JP3.7 is central with single-chip microcomputer The 3 of processor.7 pins are connected, and the rest may be inferred.JC1 to JC8 can with orientation tentacle on button be connected, JX1 to JX8 can with calmly It is connected to the magnetic valve on tentacle, below for orientation module 2-1-5 pair of connecting wires answers form.

Steering module 3-1-2 is also an integrated circuit board, circuit structure and function and the orientation mould of steering module 3-1-2 Block 2-1-5 is identical, and simply the mark code name of element is different, is so easy to distinguish annexation and conveniently write journey Sequence；

Figure 174 is the circuit diagram of steering module 3-1-2

Element between steering module 3-1-2 and orientation module 2-1-5 is listed below and marks the corresponding table of code name, and omit and turn to Module 3-1-2 circuit structures retouch art.Note：Pin in form is not necessarily joined directly together with interelement, it is also possible to be indirectly connected to, Here a kind of corresponding relation is shown.

Below for steering module 3-1-2 pair of connecting wires answers form.

With reference to Figure 175；It is also an integrated circuit board to wipe module 1-5, and the circuit structure for wiping module 1-5 is comparable to two The circuit structure of individual orientation module 2-1-5 is combined and formed；The main element for wiping module 1-5 is just orientation module Two times of 2-1-5, the connection method between element is essentially identical by contrast, and the mark code name of element is different, and indivedual lines are closed And together；Which save circuit and expand function.The complete phase of connection method of such as each 74HC595 and TLP521-4 Together, but two 74HC595 the 11st pin merge after connected together rather than respectively with one with a COAX-M marked as JP35 Individual COAX-M be connected, etc..Wiping module 1-5 circuit structures are not discussed herein, wiping module 1-5 and orientation module 2- is simply listed The contrast table of element mark code name is as follows between 1-5：

Here is to wipe module 1-5 pair of connecting wires to answer form.

With reference to Figure 176；Figure 176 is the circuit diagram of single-chip microcomputer, the single-chip microcomputer with wipe module 1-5, orientation module 2-1-5, turn It is connected to module 3-1-2, is the command and control center of swaging machine.The central processing unit of the single chip circuit figure can be using 52 series Dual-in-line central processing unit, replace due to depositing the larger available ST89C516RD+ of Chu capacity requirements, 40 pipes of the processor Pin, Dual-In-Line type, price is relatively inexpensive.The element of processor connection is divided into different functional modules by its function, these Module has：Crystal oscillator, reset circuit, eprom memory, buzzer, a power supply matching capacitance module, it is incorporated to string Go out single needle socket (header 16) of shift register 74HC165, TFT liquid crystal display, 16 pin etc..Processor P0 mouthfuls, P1 mouthfuls, P3 mouthfuls of each pin be all connected with a pull-up resistor of 10K, after the other end of pull-up resistor simultaneously connects and the pin of processor the 40th It is connected；P2 mouthfuls of one end respectively with button K1, K2, K3, K4, K5, K6, K7, K8 of the processor is connected, the other end connection of button Common ground end；The pin of processor the 20th is common ground end.Crystal oscillator is by crystal oscillator Y1 (11.0592MHZ) with two What electric capacity C14, C15 of 33PF was concatenated and formed；C14, C15 connected common end grounding, the another two ends of C14, C15 respectively with crystal oscillator The 18th pin, the 19th pin after the two ends of Y1 are connected again respectively with processor are connected.Reset circuit by button S1,10UF electric capacity The resistance R4 compositions of C11,10K；One end of SI and C11 is connected after being connected with the 40th pin for connecing processor, after the other end is connected It is connected with the 9th pin of processor and one end of resistance R4 respectively, the other end ground connection of R4.Eprom memory U4 is used M24C02RDW6 memories, U4 the 1st, 2,3,7,4 pin and be connected with one end of a 104 electric capacity C19 after connecing, C19's is another End is connected with the 8th pin of processor；6th pin of U4 is connected after concatenating a resistance R10 of 10K with the 8th pin of U4；5 pin of U4 It is connected with the 8th pin of U4 after one resistance R9 of 10K of concatenation；The 4th pin ground connection of U4；U4 the 6th, 5 pin respectively with processor 21st pin, the connection of the 22nd pin.One end of buzzer is connected with the 40th pin of processor, the other end and one 0.The resistance R7 strings of 1K It is connected with the 17th pin of U4 after connecing.Power supply matching capacitance module is by a socket J1, voltage-stablizer U1, an IN4148 tri- Pole pipe D1, luminous tube DS1, IK resistance R1,12 electric capacity 104 (C3~C10, C12, C13, C16, C17), 2 Electric capacity C1 and the C2 composition of 220UF；Voltage-stablizer U1 has three terminals Vin, Vout, GND, Vin, Vout and triode D1 of U1 Two ends and connect；J1 and electric capacity C4, C2 simultaneously meet rear one end and Vin and connect, and the other end and GND simultaneously connect；Electric capacity C3, C1, C6, C10, One end of C7, C8, C5, C12, C10, C13, C17 respectively with Vout and connect, the other end respectively with GND ends and connect；Luminous tube DS1 One end and Vout and connect, the other end concatenated with the resistance R1 of a 1K after with GND and connect, GND ends ground connection.It is incorporated to and goes here and there out displacement Register 74HC165 has 16 pins, wherein 3,4,5,6,11,12,13,14 pin each and connect a button SW-PB (S2~ ) and a pull-up resistor of 10K S9；The other end of pull-up resistor is connected with the pin of 74HC165 the 16th, button SW-PB (S2~S9) The other end and be connected with the pin of 74HC165 the 8th after connecing, the 8th pin is grounded；One end of 104 electric capacity C18 and the 16th pin of 74HC165 It is connected, the other end is connected with the 8th pin of 74HC165；Be incorporated to go here and there out the 1st pin of shift register 74HC165, the 2nd pin, the 9th pin, 16th pin the 1st pin respectively with processor, the 15th pin, the 13rd pin, the 40th pin are connected.Single needle socket (header20) JP1 has 20 pins, the socket is used to connect TFT liquid crystal displays, 18 pin after 2 pin therein and a 502 adjustable resistance R2 series winding with oneself It is connected, another pin of 502 adjustable resistance R2 is connected with the 3rd pin of JP1, the of the 1st pin and the 20th pin of JP1 and processor 20 pin be connected, the 2nd, 19 pin be also connected with 40 pin of processor respectively, the single pin of needle socket JP1 the 4th~17 are connected respectively 27th pin, the 26th pin, the 28th pin, the 39th pin, the 38th pin, the 37th pin, the 36th pin, the 35th pin, the 34th pin, the 33rd of processor Pin, the 32nd pin, the 12nd pin, the 13rd pin, the 14th pin.Single needle socket JP12 (header 16) and cleaning block module 1-5, orientation mould Block 3-1-2, steering module 2-1-5 are connected.Single needle socket JP12 respectively with the 2nd pin, the 3rd pin, the 4th pin, the 5th of processor Pin, the 6th pin, the 7th pin, the 8th pin, the 10th pin, the 11st pin, the 12nd pin, the 14th pin, the 15th pin, the 16th pin, the 17th pin are connected.TFT Liquid crystal display is an independent component of single-chip microcomputer, merely just applies, need not explain.

With reference to Figure 177~179；Because stepper motor, magnetic valve, cylinder are answered as an independent part Therefore do not explain here, only show the picture concerned that they commercially circulate.

Claims (2)

1. a kind of swaging machine, by accessory, control unit cleans part composition, it is characterised in that：It is fixed that orientation tentacle is provided with To module, sucker, magnetic valve, button；Turn to tentacle and steering module, sucker, magnetic valve, button are installed；Not only pacify in cleaning block Equipped with wipe module, magnetic valve, button, be also equipped with capping and roller, when cover close when the flushable roller and sewage that flows back, envelope Lid is opened, and roller exposes, can be cleaned；Orientation module, steering module, wiping module, are connected with magnetic valve, button, single-chip microcomputer Composition control part；Orientation tentacle cleans part with tentacle composition in cleaning block is turned to.

2. swaging machine according to claim 1, it is characterised in that：Described orientation module, steering module, wiping module, this A little modules are integrated circuit board, and circuit structure is by parallel in serial Output Shift Register 74HC165, serial input-parallel Output Shift Register 74HC595, resistance, photoisolator TLP521-4, triode 9014, diode IN4148,104 electricity Appearance, connector, contact pin composition, these modules can be the touching signal transmission of the button being attached thereto to single-chip microcomputer, it is also possible to The control signal of single-chip microcomputer is passed to the controlled element being attached thereto.